Event-triggered leader-following consensus of multiple mechanical systems with switched dynamics

Abstract

This paper investigates the event-triggered leader-following consensus problem for a class of multiple mechanical systems with switched dynamics. Based on the graph theory, Lyapunov stability theory, backstepping technique and event-triggered control theory, an event-triggered protocol is proposed for the considered multiple mechanical systems. It is proved that the practical leader-following consensus can be achieved by the proposed protocol. Meanwhile, to exclude the Zeno behaviour, a positive lower bound of inter-event intervals is given. Finally, we provide a numerical simulation to illustrate the effectiveness of the given protocol.

Keywords:

• Multiple mechanical systems
• event-triggered control
• switched dynamics
• leader-following consensus

Disclosure statement

We declare that we have no financial and personal relationships with other people or organizations that can inappropriately influence our work, there is no professional or other personal interest of any nature or kind in any product, service and/or company that could be construed as influencing the position presented in, or the review of the paper.

Additional information

Funding

This work was jointly supported by the National Natural Science Foundation of China (NSFC) (Nos. 61673078, 61873128, 61673219) and the Start of scientific research (No. QD2019A27).